System and method for imaging an object

Abstract

A system and method for acquiring an image. The method includes dropping an object into free fall, detecting the dropping of the object, triggering a plurality cameras to simultaneously image the object in parallel, while the object drops into a bottom half of an imaging sphere at a center of a field of view of each of the plurality of cameras, upon detecting the dropping of the object, analyzing images of the imaged object in parallel, based on a trained machine learning model, and displaying a three dimensional image of a surface of the object based on the analysis of the images of the imaged object.

What is claimed is: 
     
       1. An imaging apparatus, comprising:
 a frame disposable on at least one surface; 
 an imaging sphere mounted on the frame, wherein the imaging sphere comprises:
 a hollow interior, 
 an inlet opening, and 
 an outlet opening disposed diametrically opposite to the inlet opening, wherein:
 an object dropped into the imaging sphere from the inlet opening exits the imaging sphere through the outlet opening by passing through the imaging sphere, and 
 the passing of the object through the imaging sphere comprises free falling through the imaging sphere; 
 
 
 at least one detector mounted in at least one location on the imaging sphere, wherein:
 the at least one detector is configured for generating at least one trigger signal based on detecting a passing of the object through at least one detecting region of the imaging sphere, and 
 the at least one detecting region corresponds to the at least one location; 
 
 a plurality of imaging sensors supported by the frame for mounting the plurality of imaging sensors in a plurality of locations on the imaging sphere, wherein:
 the plurality of imaging sensors is communicatively coupled with the at least one detector, and 
 the plurality of imaging sensors is configured for:
 simultaneously imaging the object passing through the imaging sphere from the plurality of locations in parallel, based on the at least one trigger signal; and 
 simultaneously generating a plurality of images of the object passing through at least one imaging region of the imaging sphere based on the simultaneously imaging, wherein the plurality of images corresponds to a plurality of views of the object viewed from the plurality of locations; 
 
 
 a processing device communicatively coupled with the plurality of imaging sensors, wherein the processing device is configured for:
 analyzing the plurality of images in parallel; and 
 generating an image of the object based on the analyzing; and 
 
 a storage device communicatively coupled with the processing device, wherein the storage device is configured for storing the image. 
 
     
     
       2. The apparatus of  claim 1  further comprising an input device communicatively coupled with the processing device, wherein:
 the input device is configured for generating a first input, wherein the processing device is further configured for generating a first command for the at least one detector based on the first input, 
 the processing device is communicatively coupled with the at least one detector, and 
 the generating of the at least one trigger signal includes a single signal generated based on the first command. 
 
     
     
       3. The apparatus of  claim 2 , wherein:
 the input device is configured for generating a second input, wherein the processing device is further configured for generating a second command for the at least one detector based on the second input, and 
 the at least one detector is further configured for generating at least one data based on detecting at least one characteristic of the object passing through the at least one detecting region of the imaging sphere and the second command. 
 
     
     
       4. The apparatus of  claim 3 , wherein the processing device is further configured for:
 analyzing the at least one data; and 
 generating at least one value for at least one parameter associated with the plurality of imaging sensors based on the analyzing of the at least one data, wherein the plurality of imaging sensors is configured for calibrating the at least one parameter of the plurality of imaging sensors based on the at least one value for the simultaneously imaging of the object in the at least one imaging region of the imaging sphere. 
 
     
     
       5. The apparatus of  claim 4 , wherein:
 the storage device is further configured for retrieving at least one detecting region information associated with the at least one detecting region and at least one imaging region information associated with the at least one imaging region, 
 the processing device is further configured for analyzing the at least one detecting region information and the at least one imaging region information, and 
 the generating of the at least one value for the at least one parameter is further based on the analyzing of the at least one detecting region information and the at least one imaging region information. 
 
     
     
       6. The apparatus of  claim 4 , wherein:
 the analyzing of the at least one data comprises analyzing the at least one data using at least one machine learning model, wherein the at least one machine learning model is trained for predicting values for parameters of the plurality of imaging sensors based on characteristics of the object, and 
 the generating of the at least one value for the at least one parameter associated with the plurality of imaging sensors is further based on the analyzing of the at least one data using the at least one machine learning model. 
 
     
     
       7. The apparatus of  claim 1 , further comprising a feeding tube supported by the frame for vertically mounting the feeding tube on the imaging sphere, wherein:
 the feeding tube comprises an inlet, an outlet, and an internal cavity coupling the inlet to the outlet, wherein the outlet is coupled with the inlet opening based on the vertically mounting for coupling the internal cavity with the hollow interior of the imaging sphere, 
 the object is placed in the inlet for dropping the object into the imaging sphere, and 
 the placing of the object in the inlet for the dropping of the object into the imaging sphere does not impart rotation to the object passing through the imaging sphere. 
 
     
     
       8. The apparatus of  claim 1 , wherein the plurality of imaging sensors comprises six imaging sensors. 
     
     
       9. The apparatus of  claim 8 , wherein:
 the six imaging sensors comprise:
 a first pair of imaging sensors, 
 a second pair of imaging sensors, and 
 a third pair of imaging sensors; 
 
 the first pair of imaging sensors is mounted on the imaging sphere along a first axis of the imaging sphere; 
 the second pair of imaging sensors is mounted on the imaging sphere along a second axis of the imaging sphere; 
 the third pair of imaging sensors is mounted on the imaging sphere along a third axis of the imaging sphere; and 
 the each of the first axis, the second axis, and the third axis are mutually perpendicular. 
 
     
     
       10. The apparatus of  claim 9 , wherein:
 a first imaging sensor of the first pair of imaging sensors is mounted in a first direction along the first axis, and a second imaging sensor of the first pair of imaging sensors is mounted in a second direction opposite to the first direction along the first axis; 
 a first imaging sensor of the second pair of imaging sensors is mounted in a first direction along the second axis, and a second imaging sensor of the second pair of imaging sensors is mounted in a second direction opposite to the first direction along the second axis; 
 a first imaging sensor of the third pair of imaging sensors is mounted in a first direction along the third axis, and a second imaging sensor of the third pair of imaging sensors is mounted in a second direction opposite to the first direction along the third axis. 
 
     
     
       11. The apparatus of  claim 1 , wherein:
 the imaging sphere is orientably mounted on the frame by at least one orienting mechanism; 
 the imaging sphere is configured to be transitioned between a plurality of orientations for aligning a central axis of the inlet opening and the outlet opening with a force of gravity; and 
 the passing of the object through the imaging sphere is based on the aligning of the central axis of the inlet opening and the outlet opening with the force of gravity. 
 
     
     
       12. The apparatus of  claim 11  further comprising:
 at least one sensor configured for generating at least one sensor data based on detecting an alignment of the central axis of the inlet opening and the outlet opening with the force of gravity, wherein the at least one sensor is communicatively coupled with the processing device,
 wherein the processing device is further configured for:
 analyzing the at least one sensor data; 
 determining an orientation from the plurality of orientations for the imaging sphere based on the analyzing of the at least one sensor data; and 
 generating at least one command for transitioning the imaging sphere to the orientation based on the determining of the orientation; and 
 
 
 at least one actuator communicatively coupled with the processing device,
 wherein the at least one actuator is operatively coupled with the at least one orienting mechanism, wherein the at least one actuator is configured for transitioning the imaging sphere to the orientation based on the at least one command. 
 
 
     
     
       13. The apparatus of  claim 1 , wherein:
 the analyzing of the plurality of images comprises analyzing at least one preselected feature from a plurality of features of each of the plurality of images; and 
 the generating of the image is further based on the analyzing of the at least one preselected feature from the plurality of features of each of the plurality of images. 
 
     
     
       14. The apparatus of  claim 1 , wherein:
 each of the plurality of images overlaps with at least one of the plurality of images in at least a part; 
 the analyzing of the plurality of images comprises masking at least one portion of at least one of the plurality of images for removing the overlapping of at least one of the plurality of images with each of the plurality of images; and 
 the generating of the image is further based on the masking. 
 
     
     
       15. An imaging apparatus, comprising:
 a frame disposable on at least one surface; 
 an imaging sphere mounted on the frame, wherein the imaging sphere comprises:
 a hollow interior, 
 an inlet opening, and 
 an outlet opening disposed diametrically opposite to the inlet opening, wherein an object dropped into the imaging sphere from the inlet opening exits the imaging sphere through the outlet opening by passing through the imaging sphere, wherein the passing of the object through the imaging sphere further comprises free falling through the imaging sphere; 
 
 at least one detector mounted in at least one location on the imaging sphere, wherein the at least one detector is configured for generating at least one trigger signal based on detecting a passing of the object through at least one detecting region of the imaging sphere, wherein the at least one detecting region corresponds to the at least one location; 
 a plurality of imaging sensors supported by the frame for mounting the plurality of imaging sensors in a plurality of locations on the imaging sphere, wherein the plurality of imaging sensors is communicatively coupled with the at least one detector, wherein the plurality of imaging sensors is configured for: 
 simultaneously imaging the object passing through the imaging sphere from the plurality of locations in parallel, based on the at least one trigger signal; and 
 simultaneously generating a plurality of images of the object passing through at least one imaging region of the imaging sphere based on the simultaneously imaging, wherein the plurality of images corresponds to a plurality of views of the object viewed from the plurality of locations; 
 a processing device communicatively coupled with the plurality of imaging sensors, wherein the processing device is configured for: 
 analyzing the plurality of images in parallel; and 
 generating an image of the object based on the analyzing; 
 a storage device communicatively coupled with the processing device, wherein the storage device is configured for storing the image; and 
 a feeding tube supported by the frame for vertically mounting the feeding tube on the imaging sphere, wherein:
 the feeding tube comprises an inlet, an outlet, and an internal cavity coupling the inlet to the outlet, 
 the outlet is coupled with the inlet opening based on the vertically mounting for coupling the internal cavity with the hollow interior of the imaging sphere, 
 the object is placed in the inlet for dropping the object into the imaging sphere, and 
 the placing of the object in the inlet for the dropping of the object into the imaging sphere does not impart rotation to the object passing through the imaging sphere. 
 
 
     
     
       16. The apparatus of  claim 15  further comprising an input device communicatively coupled with the processing device, wherein:
 the input device is configured for generating a first input, 
 the processing device is further configured for generating a first command for the at least one detector based on the first input, 
 the processing device is communicatively coupled with the at least one detector, and 
 the generating of the at least one trigger signal includes a single signal generated based on the first command. 
 
     
     
       17. The apparatus of  claim 16 , wherein:
 the input device is configured for generating a second input, wherein the processing device is further configured for generating a second command for the at least one detector based on the second input; and 
 the at least one detector is further configured for generating at least one data based on detecting at least one characteristic of the object passing through the at least one detecting region of the imaging sphere and the second command. 
 
     
     
       18. The apparatus of  claim 17 , wherein:
 the processing device is further configured for:
 analyzing the at least one data based on a trained machine learning model, and 
 generating at least one value for at least one parameter associated with the plurality of imaging sensors based on the analyzing of the at least one data; and 
 
 the plurality of imaging sensors is configured for calibrating the at least one parameter of the plurality of imaging sensors based on the at least one value for the simultaneously imaging of the object in the at least one imaging region of the imaging sphere. 
 
     
     
       19. The apparatus of  claim 18 , wherein:
 the storage device is further configured for retrieving at least one detecting region information associated with the at least one detecting region and at least one imaging region information associated with the at least one imaging region; 
 the processing device is further configured for analyzing the at least one detecting region information and the at least one imaging region information; and 
 the generating of the at least one value for the at least one parameter is further based on the analyzing of the at least one detecting region information and the at least one imaging region information. 
 
     
     
       20. A method for acquiring an image, comprising:
 dropping an object into free fall; 
 detecting the dropping of the object; 
 triggering a plurality cameras to simultaneously image the object in parallel, while the object drops into a bottom half of an imaging sphere at a center of a field of view of each of the plurality of cameras, upon detecting the dropping of the object; 
 analyzing images of the imaged object in parallel, based on a trained machine learning model; and 
 displaying a three dimensional image of a surface of the object based on the analysis of the images of the imaged object.